function [ A,B,C,D ] = carLin( x0, u0, param )
%CARLIN Summary of this function goes here
%   Detailed explanation goes here

%    A = CARA(I,A,B,C,DELTAF,DELTAR,DPSI,DX,DY,G,M,PSI)
A=carA(param.I,param.a,param.b,param.c,u0(1),0,x0(4),x0(2),x0(1),param.g,param.m,x0(3));
%    B = CARB(I,A,B,C,DELTAF,DPSI,DX,DY,G,M,SFL,SFR)
B=carB(param.I,param.a,param.b,param.c,u0(1),x0(4),x0(2),x0(1),param.g,param.m,u0(2),u0(3));

A(isnan(A))=0;
B(isnan(B))=0;
A(abs(A)<eps())=0;
C=eye(6);
D=zeros(size(C,1),size(B,2));
end

